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<title>DM-CtrlH7-BF-DevProgram: C:/Users/ASUS/Desktop/dm-ctrlH7-balance-9025test/modules/motor/servo_motor/servo_motor.h Source File</title>
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  <div class="headertitle"><div class="title">servo_motor.h</div></div>
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<a href="servo__motor_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span> </div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#ifndef SERVO_MOTOR_H</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#define SERVO_MOTOR_H</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span> </div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="preprocessor">#include &quot;<a class="code" href="main_8h.html">main.h</a>&quot;</span></div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="preprocessor">#include &quot;<a class="code" href="tim_8h.html">tim.h</a>&quot;</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="comment">// #include &lt;stdint-gcc.h&gt;</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span> </div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span><span class="preprocessor">#define SERVO_MOTOR_CNT 7</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span> </div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span><span class="comment">/*各种舵机类型*/</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span><span class="keyword">typedef</span> <span class="keyword">enum</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>{</div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>    Servo180 = 0,</div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>    Servo270 = 1,</div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>    Servo360 = 2,</div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>} Servo_Type_e;</div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span> </div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span><span class="comment">/*舵机模式选择*/</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span><span class="keyword">typedef</span> <span class="keyword">enum</span></div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>{</div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>    Free_Angle_mode, <span class="comment">// 任意角度模式</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    Start_mode,      <span class="comment">// 起始角度模式</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>    Final_mode,      <span class="comment">// 终止角度模式</span></div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>} Servo_Angle_Type_e;</div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span><span class="comment">/*角度设置*/</span></div>
<div class="foldopen" id="foldopen00037" data-start="{" data-end="};">
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"><a class="line" href="struct_servo___angle__s.html">   37</a></span><span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>{</div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>    <span class="comment">/*起止角度模式设置值*/</span></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>    int16_t Init_angle;</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>    int16_t Final_angle;</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>    <span class="comment">/*任意角度模式设置值*/</span></div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>    int16_t free_angle;</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>    <span class="comment">/*下述值仅仅适用于360°舵机</span></div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span><span class="comment">     *设定值为0-100 为速度值百分比</span></div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span><span class="comment">     *0-50为正转 速度由快到慢</span></div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span><span class="comment">     *51-100为反转 速度由慢到快</span></div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span><span class="comment">     */</span></div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>    int16_t servo360speed;</div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>} <a class="code hl_struct" href="struct_servo___angle__s.html">Servo_Angle_s</a>;</div>
</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span> </div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span><span class="comment">/* 用于初始化不同舵机的结构体,各类舵机通用 */</span></div>
<div class="foldopen" id="foldopen00053" data-start="{" data-end="};">
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"><a class="line" href="struct_servo___init___config__s.html">   53</a></span><span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>{</div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    Servo_Type_e Servo_type;</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>    Servo_Angle_Type_e Servo_Angle_Type;</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    <span class="comment">// 使用的定时器类型及通道</span></div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    <a class="code hl_struct" href="struct_t_i_m___handle_type_def.html">TIM_HandleTypeDef</a> *htim;</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    <span class="comment">/*Channel值设定</span></div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span><span class="comment">     *TIM_CHANNEL_1</span></div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span><span class="comment">     *TIM_CHANNEL_2</span></div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span><span class="comment">     *TIM_CHANNEL_3</span></div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span><span class="comment">     *TIM_CHANNEL_4</span></div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span><span class="comment">     *TIM_CHANNEL_ALL</span></div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span><span class="comment">     */</span></div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    uint32_t Channel;</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span> </div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>} <a class="code hl_struct" href="struct_servo___init___config__s.html">Servo_Init_Config_s</a>;</div>
</div>
<div class="foldopen" id="foldopen00069" data-start="{" data-end="};">
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"><a class="line" href="struct_servo_instance.html">   69</a></span><span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>{</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>    Servo_Angle_Type_e Servo_Angle_Type;</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    <a class="code hl_struct" href="struct_servo___angle__s.html">Servo_Angle_s</a> Servo_Angle;</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    Servo_Type_e Servo_type;</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>    <span class="comment">// 使用的定时器类型及通道</span></div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    <a class="code hl_struct" href="struct_t_i_m___handle_type_def.html">TIM_HandleTypeDef</a> *htim;</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    <span class="comment">/*Channel值设定</span></div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span><span class="comment">     *TIM_CHANNEL_1</span></div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span><span class="comment">     *TIM_CHANNEL_2</span></div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span><span class="comment">     *TIM_CHANNEL_3</span></div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span><span class="comment">     *TIM_CHANNEL_4</span></div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span><span class="comment">     *TIM_CHANNEL_ALL</span></div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span><span class="comment">     */</span></div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>    uint32_t Channel;</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>} <a class="code hl_struct" href="struct_servo_instance.html">ServoInstance</a>;</div>
</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span> </div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span><a class="code hl_struct" href="struct_servo_instance.html">ServoInstance</a> *ServoInit(<a class="code hl_struct" href="struct_servo___init___config__s.html">Servo_Init_Config_s</a> *Servo_Init_Config);</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span><span class="keywordtype">void</span> <a class="code hl_function" href="servo__motor_8h.html#ac4157b72fa36b65b683660b86b9da612">Servo_Motor_FreeAngle_Set</a>(<a class="code hl_struct" href="struct_servo_instance.html">ServoInstance</a> *Servo_Motor, int16_t S_angle);</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span><span class="keywordtype">void</span> <a class="code hl_function" href="servo__motor_8h.html#a871a49699fa114b54020843e1e149f25">Servo_Motor_Type_Select</a>(<a class="code hl_struct" href="struct_servo_instance.html">ServoInstance</a> *Servo_Motor,int16_t mode);</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span><span class="keywordtype">void</span> <a class="code hl_function" href="servo__motor_8h.html#a358e789daa68380f02b5c7cc5f79903b">ServeoMotorControl</a>();</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span><span class="preprocessor">#endif </span><span class="comment">// SERVO_MOTOR_H</span></div>
<div class="ttc" id="amain_8h_html"><div class="ttname"><a href="main_8h.html">main.h</a></div><div class="ttdoc">: Header for main.c file. This file contains the common defines of the application.</div></div>
<div class="ttc" id="aservo__motor_8h_html_a358e789daa68380f02b5c7cc5f79903b"><div class="ttname"><a href="servo__motor_8h.html#a358e789daa68380f02b5c7cc5f79903b">ServeoMotorControl</a></div><div class="ttdeci">void ServeoMotorControl()</div><div class="ttdoc">舵机输出控制</div><div class="ttdef"><b>Definition</b> servo_motor.c:83</div></div>
<div class="ttc" id="aservo__motor_8h_html_a871a49699fa114b54020843e1e149f25"><div class="ttname"><a href="servo__motor_8h.html#a871a49699fa114b54020843e1e149f25">Servo_Motor_Type_Select</a></div><div class="ttdeci">void Servo_Motor_Type_Select(ServoInstance *Servo_Motor, int16_t mode)</div><div class="ttdoc">舵机模式选择</div><div class="ttdef"><b>Definition</b> servo_motor.c:74</div></div>
<div class="ttc" id="aservo__motor_8h_html_ac4157b72fa36b65b683660b86b9da612"><div class="ttname"><a href="servo__motor_8h.html#ac4157b72fa36b65b683660b86b9da612">Servo_Motor_FreeAngle_Set</a></div><div class="ttdeci">void Servo_Motor_FreeAngle_Set(ServoInstance *Servo_Motor, int16_t S_angle)</div><div class="ttdoc">写入自由角度数值</div><div class="ttdef"><b>Definition</b> servo_motor.c:32</div></div>
<div class="ttc" id="astruct_servo___angle__s_html"><div class="ttname"><a href="struct_servo___angle__s.html">Servo_Angle_s</a></div><div class="ttdef"><b>Definition</b> servo_motor.h:38</div></div>
<div class="ttc" id="astruct_servo___init___config__s_html"><div class="ttname"><a href="struct_servo___init___config__s.html">Servo_Init_Config_s</a></div><div class="ttdef"><b>Definition</b> servo_motor.h:54</div></div>
<div class="ttc" id="astruct_servo_instance_html"><div class="ttname"><a href="struct_servo_instance.html">ServoInstance</a></div><div class="ttdef"><b>Definition</b> servo_motor.h:70</div></div>
<div class="ttc" id="astruct_t_i_m___handle_type_def_html"><div class="ttname"><a href="struct_t_i_m___handle_type_def.html">TIM_HandleTypeDef</a></div><div class="ttdoc">TIM Time Base Handle Structure definition.</div><div class="ttdef"><b>Definition</b> stm32h7xx_hal_tim.h:359</div></div>
<div class="ttc" id="atim_8h_html"><div class="ttname"><a href="tim_8h.html">tim.h</a></div><div class="ttdoc">This file contains all the function prototypes for the tim.c file.</div></div>
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